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Add user attribute to <body> and attachment frames #468

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2 changes: 1 addition & 1 deletion dm_control/mjcf/schema.py
Original file line number Diff line number Diff line change
Expand Up @@ -215,7 +215,7 @@ def _attachment_frame_spec(is_world_attachment):
body_spec = MUJOCO.children['worldbody'].children['body']
# 'name' and 'childclass' attributes are excluded.
for attrib_name in (
'mocap', 'pos', 'quat', 'axisangle', 'xyaxes', 'zaxis', 'euler'):
'mocap', 'pos', 'quat', 'axisangle', 'xyaxes', 'zaxis', 'euler', 'user'):
frame_spec.attributes[attrib_name] = copy.deepcopy(
body_spec.attributes[attrib_name])

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1 change: 1 addition & 0 deletions dm_control/mjcf/schema.xml
Original file line number Diff line number Diff line change
Expand Up @@ -1307,6 +1307,7 @@
<attribute name="zaxis" type="array" array_type="float" array_size="3"/>
<attribute name="euler" type="array" array_type="float" array_size="3"/>
<attribute name="gravcomp" type="float"/>
<attribute name="user" type="array" array_type="float"/>
</attributes>
<children>
<element name="plugin" repeated="true" namespace="body">
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